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SPATIAL FOG DUAL 双天线光纤陀螺仪组合导航系统
Spatial FOG Dual is a ruggedized GPS aided inertial navigation system and AHRS that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. It combines ultra high accuracy fibre optic gyroscopes, accelerometers, magnetometers and a pressure sensor with a dual antenna RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation.
GPS辅助惯性组合导航系统与航姿参考系统包含超高精度光纤陀螺仪、加速度计、磁力计和压力表，并设有双天线RTK GNSS接收器。它们耦合于融合算法，提供精确导航与定向 （POS）。
Spatial FOG Dual为双天线光纤陀螺仪组合导航系统。相比Spatial FOG光纤陀螺仪惯性测量单元，更加适合普及应用于海陆空测绘行业，也适合天线追踪、直升机、极限运动、机器人等。
FEATURES特点
Spatial FOG Dual features dual antenna moving baseline RTK. This allows it to provide highly accurate heading while both stationary and moving. It is an excellent choice for applications with low dynamics where single antenna systems struggle or any application where additional heading accuracy is required. An added benefit is the ability to accurately measure vehicle slip angle.
EXTREME INERTIAL PERFORMANCE卓越惯性性能
Spatial FOG Dual contains the KVH Industries 1750 fibre optic gyroscope (FOG) IMU, which provides extremely accurate inertial data far beyond the best MEMS technology available. This allows Spatial FOG Dual to acheive very high accuracies and dead reckon without GNSS for extended periods of time. Despite the high accuracy FOG IMU, Spatial FOG Dual has a very competitive price tag that is lower than many MEMS systems on the market.
RTK GNSS RECEIVER支持实时动态差分
Spatial FOG Dual contains a dual frequency Trimble RTK GNSS receiver that provides up to 8mm accuracy positioning and supports all of the current and future satellite navigation systems, including GPS, GLONASS, GALILEO and BeiDou. It also supports the Omnistar service for hassle free high accuracy positioning. Spatial FOG Dual supports both real time RTK positioning and logging of raw satellite data for kinematic post-processing.
ADVANCED FILTER先进滤波技术
Spatial FOG Dual contains Advanced Navigation's revolutionary sensor fusion filter. The filter is more intelligent than the typical extended kalman filter and is able to extract significantly more information from the data by making use of human inspired artificial intelligence. It was designed for control applications and has a high level of health monitoring and instability prevention to ensure stable and reliable data.
HOT START热启动
Spatial FOG Dual contains a next generation battery backup system that allows it to hot start inertial navigation from its last position in 2 seconds and obtain a GNSS fix in approximately 3 seconds. The battery backup system lasts for the lifetime of the product and will provide backup for 48 hours without power. Advanced Navigation's Spatial series are the only GNSS/INS in the world to provide hot start inertial navigation.
RELIABILITY高可靠性
Spatial FOG Dual has been designed from the ground up for mission critical control applications where reliability is very important. It is built on top of a safety oriented real time operating system and all software is designed and tested to safety standards with fault tolerance in place. The hardware is protected from reverse polarity, overvoltage, surges, static and short circuits on all external interfaces. The GNSS contains RAIM, which excludes both malfunctioning, and tampered satellite signals. Spatial FOG Dual contains a backup MEMS IMU, which it can seamlessly fall back to should the primary IMU fail.
HIGH UPDATE RATE高数据更新率
Spatial FOG Dual's internal filter runs at 1000Hz and data can also be output at this rate over high speed RS232 or RS422. This allows for control of dynamically unstable platforms.
PERIPHERALS外挂附件
Spatial FOG Dual features two general purpose input output pins and two auxiliary RS232/RS422 ports that support an extensive number of peripherals. Including odometer based input for ground vehicles, DVLs and USBLs for underwater navigation, NMEA input/output and more. For an integration fee, custom peripheral devices can be added.
APPLICATIONS应用
MARINE SURVEYING海洋调查
Spatial FOG Dual is ideal for marine surveying applications, providing all the reference data required in a single unit. It provides a very high accuracy source of real time roll, pitch and heading as well as RTK accuracy positioning ideal for referencing subsea points. It features a revolutionary tightly coupled heave filter that provides heave accuracy surpassing most post processed heave systems. It also supports Omnistar for enhanced accuracy positioning offshore.
LAND SURVEYING大地测量
Spatial FOG Dual's high accuracy roll, pitch and heading make it well suited for surveying applications. It supports RTK which allows it to provide dramatically enhanced positioning accuracy over standard GPS with positioning accuracy of 8mm. The system supports connection of a high resolution wheel speed sensor or odometer which allows it to maintain accurate data through GPS outages and continue surveys through tunnels and other areas where GPS signals are not available. It also supports output of RINEX raw satellite data for post processing.
HELICOPTERS直升机
Spatial FOG Dual is ideal for use in helicopters where high levels of magnetic interference make magnetic heading unusable. In this application, single antenna GNSS/INS systems can have issues resolving the heading due to the 3D movement and stationary hovering of the platform. Spatial FOG Dual is able to provide very high accuracy heading under all conditions whether stationary or moving and through all levels of magnetic interference.
ANTENNA TARGETTING天线追踪系统
In both stationary and moving antenna applications, Spatial FOG Dual provides a high accuracy source of roll, pitch and heading that is ideal for antenna targetting control. Its ability to provide continuously reliable data through extended GPS outages and interference means that systems can maintain very high uptimes.
MOTORSPORT赛车
Spatial FOG Dual is an excellent tool for performance measurement in motorsport. From the velocity and orientation data, slip, oversteer and understeer can be calculated. The velocity and acceleration data can be used to calculate improvements to braking and accelerating. Position can be used to determine the deviation from the optimum track position. Spatial FOG Dual’s high vibration tolerance and dynamic range means there are no concerns about engine or road vibration. Spatial FOG Dual also supports data output to data acquisition systems such as Dewesoft products.
ROBOTICS机器人
Spatial FOG Dual’s accurate orientation data allows for stabilization of robotic systems and its position, velocity and acceleration data can be used for robot navigation. Spatial FOG Dual’s high update rate allows it to control dynamically unstable platforms and its focus on safety and reliability provides for piece of mind.
SPECIFICATIONS规格书
NAVIGATION导航
Horizontal Position Accuracy水平定位准确度 | 0.8 m |
Vertical Position Accuracy高程定位准确度 | 1.5 m |
Horizontal Position Accuracy(with SBAS)水平定位SBAS准确度 | 0.5 m |
Vertical Position Accuracy(with SBAS)高程定位SBAS准确度 | 0.8 m |
Horizontal Position Accuracy(with RTK or Kinematica PPK)水平定位RTK或PPK准确度 | 0.008 m |
Vertical Position Accuracy(with RTK or Kinematica PPK)高程定位RTK或PPK准确度 | 0.015 m |
Velocity Accuracy速度准确度 | 0.005 m/s |
Roll & Pitch Accuracy横滚、俯仰准确度 | 0.01 ° |
Heading Accuracy航向准确度（1米基线）* | 0.01 ° |
Roll & Pitch Accuracy(Kinematica Post Processing)横滚、俯仰Kinematica后处理准确度 | 0.005 ° |
Heading Accuracy(Kinematica Post Processing)航向准确度Kinematica后处理 | 0.007 ° |
Slip Accuracy滑动准确度 | 0.01 ° |
Heave Accuracy升沉准确度 | 2 % or 0.02 m(whichever is greater)取大值 |
Orientation Range定向测量范围 | Unlimited |
Hot Start Time热启动时间 | 2 s |
Internal Filter Rate内部滤波率 | 1000 Hz |
Output Data Rate数据数据更新率 | Up to 1000 Hz |
*航向准确度
0.5 m 0.03 °
1 m 0.01 °
2 m 0.007 °
5 m 0.005 °
10 m 0.002 °
SENSORS传感器
Sensor传感器 | Accelerometers加速度计 | Gyroscopes陀螺仪 | Magnetometers磁力计 | Pressure压力表 |
Range测量范围 | ±10 g | ±490 °/s | ±8 G | 10 to 120 KPa |
Bias Instability零偏不稳定性 | 15 ug | 0.05 °/hr | - | 10 Pa |
Initial Bias零偏 | < 1 mg | < 1 °/hr | - | < 100 Pa |
Initial Scaling Error初始刻度误差 | < 0.03 % | < 0.01 % | < 0.07 % | - |
Scale Factor Stability刻度因素稳定性 | < 0.04 % | < 0.02 % | < 0.09 % | - |
Non-linearity非线性度 | < 0.03 % | < 0.005 % | < 0.08 % | - |
Cross-axis Alignment Error横坐标对齐误 差 | < 0.04 ° | < 0.02 ° | < 0.05 ° | - |
Noise Density噪音密度 | 120 ug/√Hz | 0.7 °/hr/√Hz | 210 uG/√Hz | 0.56 Pa/√Hz |
Bandwidth带宽 | 200 Hz | 440 Hz | 110 Hz | 50 Hz |
GNSS全球卫星导航系统
Model型号 | Trimble MB-TWO |
Supported Navigation Systems卫星系统 | GPS L1, L2 |
Supported SBAS Systems支持星基区域增强系统 | WAAS
Trimble RTX |
Update Rate数据更新率 | 20 Hz |
Hot Start First Fix热启动时间 | 3 s |
Cold Start First Fix冷启动时间 | 30 s |
Horizontal Position Accuracy水平位置准确度 | 1.2 m |
Horizontal Position Accuracy(with SBAS)水平位置准确度SBAS | 0.5 m |
Horizontal Position Accuracy(with RTK)水平位置准确度RTK | 0.008 m |
Velocity Accuracy速度准确度 | 0.005 m/s |
Timing Accuracy授时准确度 | 20 ns |
Acceleration Limit加速度限制 | 11 g |
COMMUNICATION通信
Interface | RS422 (RS232 optional) |
Speed | 4800 to 10M baud |
Protocol | AN Packet Protocol or NMEA |
Peripheral Interface | 2x GPIO and 2x Auxiliary RS232 |
GPIO Level | 5 V or RS232 |
GPIO Functions | 1PPS |
HARDWARE硬件
Operating Voltage | 9 to 36 V |
Input Protection | -40 to 100 V |
Power Consumption(typical)功耗 | 6.12W |
Hot Start Battery Capacity热启动电池容量 | > 48 hrs |
Hot Start Battery Charge Time热启动充电时间 | 30 mins |
Hot Start Battery Endurance热启动电池寿命 | > 10 years |
Operating Temperature工作温度 | -40 °C to 75 °C |
Environmental Protection环境认证 | IP67 |
MTBF平均无故障时间 | > 36,000 hrs |
Shock Limit冲击 | 40 g |
Vibration震动 | 12 g |
Dimensions尺寸 | 94x94x95 mm |
Weight重量 | 740 grams |
Ordering Information订货信息
Part Number:SPATIAL-FOG2-EK Description:Spatial FOG Evaluation Kit双天线光纤陀螺仪组合导航系统开发包
Notes: Spatial FOG evaluation kit Includes items listed in section 6.1 L1 GPS, GLONASS, BeiDou, SBAS DGNSS supported License required for RTK, L2, L5, Galileo and raw data logging
Part Number: SPATIAL-FOG2 Description:Spatial FOG Unit双天线光纤陀螺仪组合导航系统单元
Notes:Spatial FOG unit L1 GPS, GLONASS, BeiDou, SBAS DGNSS supported License required for RTK, L2, L5, Galileo and raw data logging No cables included
Part Number:SPATIAL-FOG2-NOGNSS Description:Spatial FOG Unit (No GNSS)双天线光纤陀螺仪组合导航系统单元（不带GNSS）
Notes: Spatial FOG unit without internal GNSS receiver No cables included
Part Number: SF-LIC-8MM Description: RTK, L2, L5, Raw Data and Galileo License Upgrade
Notes: GNSS receiver software license upgrade that enables RTK, L2, L5, Raw Data and Galileo
Accessories:
Part Number:SF-DU-KIT Description:Spatial FOG Dual Antenna Upgrade Kit
Notes:Upgrades Spatial FOG to be a dual antenna system for enhanced heading See section 10.5.3
Part Number:8071-4336-78 Description: Unterminated Interface Cable
Notes:Spatial FOG connector with 2 metres of unterminated cable See section 8.9
Part Number:SF-CABLE-KIT Description: Spatial FOG Evaluation Cable Harness
Notes:Spatial FOG connector with 2 metres of cable to industry standard connectors See section 8.10
Part Number:BF046WS140612-06 Description: Right Angle SMA to TNC 4m Cable
Notes:Right Angle SMA to TNC connector 4 metre antenna cable
Part Number:G5Ant-53A4T1 Description:Antcom GNSS Antenna
Notes:Antcom G5 L1/L2/L5 GNSS antenna with survey mount
Part Number:57970-10-INT Description:Trimble Zephyr GNSS Antenna
Notes:Trimble Zephyr 2 L1/L2/L5 GNSS Antenna
Part Number:OBDII-ODOMETER Description:OBDII Odometer Notes:OBDII Odometer Interface See section 9.8.2
Part Number:AD-UNIT Description: Air Data Unit Notes: Air data unit provides pitot and static air data aiding for Spatial FOG in fixed wing aircraft
Part Number:MOUNT-SUCT Description:Suction Cup Antenna Mount
Notes:Suction cup 5/8” GNSS antenna survey mount for easy installation of GNSS antenna on vehicles
Base station radio modem RTK corrections: Base station radio modem RTK corrections require two additional pieces of hardware, these are the base station and the radio modem receiver. The base station is setup at a fixed location and transmits corrections to the radio modem receiver that is connected to the mobile Spatial FOG unit. The radio modem receiver and Spatial FOG unit must remain within range of the base station to receive these corrections, typically this range is approximately 20km. We recommend Trimble R8s RTK base station.
DOWNLOAD下载
1.Spatial FOG Dual Flyer 1.0
2.Spatial FOG Dual Reference Manual 1.0
3.Spatial FOG Dual 3D Model PDF 1.0
4.Spatial FOG Dual 3D Model 1.0
5.SPATIAL FOG MANAGER V4.3 (WINDOWS & LINUX)
Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG Dual. Please see the Spatial FOG reference manual for more information. Java is required to run this program. Released 17th August 2015.
6. SPATIAL FOG MANAGER V4.2 (MAC)
Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG. Please see the Spatial FOG reference manual for more information. Released 2nd April 2015.
The Spatial FOG SDK provides example source code for interfacing with Spatial FOG through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.
8.SPATIAL FOG DUAL FIRMWARE V1.0
The firmware for all hardware versions of Spatial FOG Dual. This can be loaded onto Spatial FOG Dual using the Spatial FOG Manager software. The changelog can be found in the Spatial FOG Dual reference manual. Released 26th August 2015.
9. SPATIAL MANAGER FOR ANDROID
Spatial Manager for Android is available in the Android play store. A bluetooth dongle is required which can be purchased by contacting sales@aitcl.com.